Remote park-assist user pedestrian location coaching and enforcement

ABSTRACT

A vehicle control system includes at least one detection device configured to capture detection data and a controller. The controller identifies a parking space for a vehicle in an operating area based on the detection data and identifies a travel path of the vehicle from a current position to a target position aligning the vehicle with the parking space. In response to the travel path, the controller calculates a travel zone occupied by the vehicle traversing the travel path and determines at least one viewing zone proximate to the travel zone. The controller further determines a location of a user based on the detection data and controls a navigation routine of the vehicle along the travel path in response to the location of the user relative to the at least one viewing zone.

FIELD OF THE INVENTION

The present invention generally relates to a system for controlling anassisted parking operation and, more specifically, relates to a systemfor controlling a vehicle and assisting a user-pedestrian monitoring theoperation of a vehicle.

BACKGROUND OF THE INVENTION

Advances in vehicle operation provide users with various improvementsand novel features. While the operation of vehicles may have advancedsignificantly, in some cases, users may also benefit from instructionand guidance as to how to utilize the advanced features. Accordingly,the application provides for improvements related to the operation ofone or more advanced maneuvering systems for vehicles.

SUMMARY OF THE INVENTION

According to one aspect of the disclosure, a vehicle control system fora vehicle is disclosed. The system comprises at least one detectiondevice configured to capture detection data and a controller. Thecontroller identifies a parking space for the vehicle in an operatingarea based on the detection data and identifies a travel path of thevehicle from a current position to a target position aligning thevehicle with the parking space. In response to the travel path, thecontroller calculates a travel zone occupied by the vehicle traversingthe travel path and determines at least one viewing zone proximate tothe travel zone. The controller further determines a location of a userbased on the detection data and controls a navigation routine of thevehicle along the travel path in response to the location of the userrelative to the at least one viewing zone.

Embodiments of the disclosure can include any one or a combination ofthe following features:

-   -   the at least one detection device comprises a communication        module configured to communicate with a remote device comprising        a user interface, wherein the communication module identifies a        position of the remote device and infers the location of the        user;    -   the communication module is further configured to communicate        with a remote server via a wireless network, where the        controller further accesses geographic information for the        operating area;    -   the controller further identifies a traffic zone and a        pedestrian zone in response to the geographic information for        the operating area;    -   in response to the position of the remote device outside the        viewing zone, generates an instruction to relocate the remote        device in the viewing zone, wherein the instruction provides at        least one of a direction and a distance to relocate the remote        device in the viewing zone;    -   the controller further instructs the remote device to        demonstrate a simulated scene demonstrating the travel zone of        the vehicle and the viewing zone;    -   the location of the remote device is further demonstrated in the        simulated scene;    -   in response to the location of the user outside the viewing        zone, the controller further controls the vehicle to suspend the        navigation routine of the vehicle along the travel path;    -   the at least one detection device comprises at least one of a        camera and a proximity detection device;    -   the controller further detects at least one obstruction        proximate to the travel path via the detection data and adjusts        a boundary of the at least one viewing zone corresponding to the        location of the obstruction;    -   the at least one obstruction comprises a parked vehicle located        proximate to the parking space;    -   the controller further determines viewing locations for the at        least one viewing zone in response to a traffic zone and a        pedestrian zone identified in the operating area;    -   the controller further determines an egress path from the at        least one viewing zone, and adjusts the at least one viewing        zone, such that the egress path is accessible with the vehicle        located in the parking space; and/or    -   a vehicle maneuvering system that controls a velocity and a        steering angle of the vehicle along the travel path in response        to instructions received from the controller.

According to another aspect of the disclosure, a method for enforcing aviewing zone for monitoring a semi-automated vehicle operation isdisclosed. The method comprises identifying a parking space for thevehicle in an operating area via the detection data and identifying atravel path of the vehicle from a current position to a target positionaligning the vehicle with the parking space. The travel path includes atravel zone of the vehicle extending from a current position to thetarget position. In response to the travel path, the method calculates atravel zone occupied by the vehicle traversing the travel path anddetermines a perimeter of the at least one viewing zone based on thetravel zone. The method further includes controlling a navigationroutine of the vehicle along the travel path in response to a locationof a user relative to the perimeter of the at least one viewing zone.

Embodiments of the disclosure can include any one or a combination ofthe following features:

-   -   detecting the location of the user comprises detecting the        location based on a position of a remote device identified via a        communication module;    -   in response to the position of the remote device outside the        viewing zone, generating an instruction to relocate the remote        device in the viewing zone;    -   determining viewing locations for the at least one viewing zone        in response to a traffic zone and a pedestrian zone identified        in the operating area; and/or    -   determining an egress path from the at least one viewing zone,        and adjusting the at least one viewing zone, such that the        egress path is accessible with the vehicle located in the        parking space.

According to yet another aspect of the disclosure, a vehicle controlsystem is disclosed. The system comprises at least one detection deviceconfigured to capture detection data and a controller. The at least onedetection device is configured to identify a position of a remote devicerelative to a vehicle. The controller identifies a parking space for thevehicle in an operating area via the detection data and identifies atravel path of the vehicle from a current position to a target positionaligning the vehicle with the parking space. In response to the travelpath, the controller calculates a travel zone occupied by the vehicletraversing the travel path and identifies a pedestrian zone in responseto geographic information for the operating area. The controller furtherdetermines at least one viewing zone proximate to the travel zonewherein the at least one viewing zone is positioned in the pedestrianzone. The controller further determines the position of the remotedevice and infers a location of a user based on the position of theremote device. The controller controls a navigation routine of thevehicle along the travel path in response to the location of a userrelative to the at least one viewing zone.

These and other aspects, objects, and features of the present inventionwill be understood and appreciated by those skilled in the art uponstudying the following specification, claims, and appended drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

In the drawings:

FIG. 1 is a perspective view of a vehicle demonstrating an assistedparking routine;

FIG. 2 is a block diagram demonstrating a control system of a vehicleconfigured to control an assisted parking operation;

FIG. 3A is a plan view of a vehicle demonstrating an assisted parkingroutine identifying a user/pedestrian in a viewing zone;

FIG. 3B is a plan view of a vehicle demonstrating an assisted parkingroutine identifying a user/pedestrian in a viewing zone;

FIG. 4 is a graphical depiction of a simulated scene of a vehicletraversing an assisted parking routine demonstrating a viewing zone;

FIG. 5 is a graphical depiction of a simulated scene of a vehicletraversing an assisted parking routine demonstrating a viewing zone;

FIG. 6 is a plan view of a vehicle demonstrating an assisted parkingroutine identifying a user/pedestrian in a viewing zone;

FIG. 7 is a plan view of various parking scenarios for an assistedparking routine demonstrating viewing zones for a pedestrian user; and

FIG. 8 is a flow chart demonstrating a method for instructing auser/observer to maintain a position within a viewing zone during anautomated parking routine in accordance with the disclosure.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

For purposes of description herein, the terms “upper,” “lower,” “right,”“left,” “rear,” “front,” “vertical,” “horizontal,” “interior,”“exterior,” and derivatives thereof shall relate to the device asoriented in FIG. 1 . However, it is to be understood that the device mayassume various alternative orientations, except where expresslyspecified to the contrary. It is also to be understood that the specificdevices and processes illustrated in the attached drawings, anddescribed in the following specification are simply exemplaryembodiments of the inventive concepts defined in the appended claims.Hence, specific dimensions and other physical characteristics relatingto the embodiments disclosed herein are not to be considered aslimiting, unless the claims expressly state otherwise. Additionally,unless otherwise specified, it is to be understood that discussion of aparticular feature or component extending in or along a given direction,or the like, does not mean that the feature or component follows astraight line or axis in such a direction or that it only extends insuch direction or on such a plane without other directional componentsor deviations, unless otherwise specified.

Referring generally to FIG. 1 , a remote parking system 10 is shownincorporated into a vehicle 12. The remote parking system 10 mayfacilitate a vehicle operator or user U to exit the vehicle 12 beforethe remote parking system 10 autonomously parks the vehicle 12. Inoperation, the user U may activate the remote parking system 10 using abutton on a key and/or an interface on a remote device 14 (e.g., a smartphone, a smart watch, a tablet, etc.). In this way, a vehicle 12 may beparked without requiring guidance of a conventional passenger-operator.In some cases, the remote parking system 10 may control the vehicle 12to park in a parking space 16 in which the doors of the vehicle 12 maynot have sufficient clearance to open. While the remote parking systems10 may provide a variety of benefits, the system still may benefit frompedestrian-user observation and monitoring. Accordingly, the disclosureprovides for an interactive routine that may instruct and/or enforce aposition of the user U within a viewing zone 20. In this way, thedisclosure provides for a guidance routine to position a user U foroptimized viewing as well as ensuring that the user U is positioned inthe viewing zone 20.

Specific examples of the operation of remote parking system 10 and theguidance routine of the user U are discussed in reference to FIGS. 3-8 .To support the detailed operation of the system 10, the system is firstgenerally introduced in reference to FIGS. 1 and 2 . As describedherein, the remote parking system 10 is configured to control the motivefunctions of the vehicle 12 to park without a driver occupying thevehicle 12. In various examples, the vehicle 12 may be a standardgasoline-powered vehicle, a hybrid vehicle, an electric vehicle, afuel-cell vehicle, and/or any other type of vehicle. The vehicle 12includes various drive components, such as a powertrain with an engine,a transmission, a suspension, a driveshaft, and/or wheels, etc. Asprovided by the exemplary implementations, the vehicle 12 may besemi-autonomous or autonomous. A semi-autonomous vehicle is a vehiclethat autonomously controls some routine motive functions (e.g., assistedparking, remote assisted parking, adaptive cruise control, etc.) whilethe driver controls the vehicle. An autonomous vehicle is a vehicle thatautonomously controls the motive functions of the vehicle without directuser control or intervention. As depicted in FIG. 1 , the vehicle 12includes a plurality of detection sensors 22, a wireless communicationcircuit 24, an electronic control unit (ECU) 26, the remote parkingsystem 10, and a communication platform 32.

The range detection sensors 22 a or detection devices sense objects orobstructions, such as a parked vehicle 34, and characterize spaces inthe vicinity of the vehicle 12, such as the parking space 16. Thedetection sensors 22 may include ultrasonic sensors, cameras, infraredsensors, RADAR, and/or LiDAR, etc. In the illustrated example, a firstgroup of the range detection sensors 22 a are embedded in the bumper ofthe vehicle 12 to detect the parked vehicles 34 and characterize theparking space 16 for the remote parking system 10. Additionally, asecond group of the detection sensors may be positioned in otherlocations (e.g., a body panel, deck lid, etc.) and may correspond tovideo or image sensors 22 b to further to facilitate the detection ofthe parked vehicles 34 and characterization of parking spaces 16. In theillustrated example, the detection sensors 22 determine both anavailable clearance (width, length, etc.) and an occupancy of theparking spaces 16 to initiate an assisted parking routine as discussedherein.

Though generally discussed in reference to the vehicle 12, the detectionsensor(s) 22 may include one or more devices in connection with orcarried by the user U. For example, the detection sensor 22 maycorrespond to a range detection sensor 22 a or image sensor 22 bincorporated in the remote device 14. For example, the system 10 may beconfigured to communicate one or more instructions to the user U via theremote device 14 instructing the user to aim a field of view of a cameraof the remote device 14 toward the vehicle 12. In this way, the system10 may be configured to monitor the image data captured by the remotedevice 14 to identify the location or proximity of the user U relativeto the vehicle 12 and the travel path 38. Based on the location orproximity of the user U, the system 10 may control the operation of thevehicle 12 in response to the position of the user U relative to the oneor more viewing zones 20. Further details describing assisted parkingoperations and related vehicle operation is described in U.S. Pat. Nos.10,308,243 B2 and 9,610,943 B2, the disclosures of which areincorporated herein in their entirety.

The wireless communication circuit 24 connects to the remote device 14(e.g., a smart phone, a smart watch, a tablet computer, etc.) of theoperator of the vehicle 12. In some examples, the wireless communicationcircuit 24 is configured in accordance with Bluetooth® Low Energy (BLE).Alternatively, in some examples, the wireless communication circuit 24may operate in accordance with other local area or personal area networkstandards, such as Bluetooth®, IEEE 802.11 or IEEE 802.15.4, etc. Whenconnected to the remote device 14, the wireless communication circuit 24facilitates communication between the user U and the system 10 (e.g.,activating the remote parking system, etc.). Additionally, the remoteparking system 10 may communicate instructions identifying the viewingzone 20, the location of the parking space 16 targeted for the parkingroutine, a travel path 38 of the vehicle 12, and a travel zone 40occupied by the vehicle 12 as calculated traversing the travel path 38.

In various embodiments, the system 10 may be configured to detect thelocation of the user U based on the range detection sensors 22 a and/orimage sensors 22 b. Additionally, the system 10 may be operable todetect a location of the remote device 14 to position the user U and/ortether the user U within a predetermined range of the vehicle 12 inorder to sustain or as a condition to activating the remote parkingroutine. For example, the wireless communication circuit 24 may detectthe location of the remote device 14 based on time of flight detectionas well as an angle of arrival or angle of departure directional signaldetermination based on RSS (Received Signal Strength), AOA (Angle ofArrival), TOA (Time of Arrival), and TDOA (Time Difference of Arrival),which may be supported by one or more wireless protocols (e.g.,Bluetooth® Low Energy (BLE), Ultra-Wideband, etc.). Based on thesemethods, the location of the remote device 14 and the inferred locationof the user U may be identified within a range of less than 20centimeters.

The ECU 26 monitors and controls various subsystems of the vehicle 12.The ECU 26 communicates and exchanges information via a vehicle data bus46. Additionally, the ECU 26 may communicate properties (such as statusof the ECU 26, sensor readings, control states of the vehicle 12, errorand diagnostic codes, etc.) to and receive instructions from otherdevices (e.g., the remote parking system 10, etc.) Though discussed inreference to a single electronic control unit, the ECU 26 may typicallybe implemented with multiple control units in communication via the databus 46 and distributed throughout the vehicle 12 to monitor and controltheir corresponding vehicle systems. Each ECU 26 may correspond to oneor more discrete sets of electronics that include their own circuit(s)(such as integrated circuits, microprocessors, memory, storage, etc.)and firmware, sensors, actuators, and/or mounting hardware. In theillustrated example, the ECU 26 includes a steering control unit 48, abrake control unit 50, a throttle control unit 52, and a transmissioncontrol unit 54. The steering control unit 48 includes actuators tocontrol the steering (e.g., the angle of the wheels) of the vehicle 12without driver input. The brake control unit 50 includes actuators tooperate the brakes of the vehicle 12 without driver input. Additionally,the throttle control unit 52 is capable of adjusting the throttle of thevehicle 12 without driver input. The transmission control unit 54facilitates changing the transmission setting of the vehicle 12 withoutdriver input.

The communication platform 32 includes wired or wireless networkinterfaces to enable communication with external networks and devices.The communication platform 32 also includes hardware (e.g., processors,memory, storage, antenna, etc.) and software to control the wired orwireless network interfaces. The communication platform 32 may includecontrollers for Bluetooth® and/or other standards-based networks (e.g.,Global System for Mobile Communications (GSM), Universal MobileTelecommunications System (UMTS), Long Term Evolution (LTE), CodeDivision Multiple Access (CDMA), WiMAX (IEEE 802.16m); Near FieldCommunication (NFC); local area wireless network (including IEEE 802.11a/b/g/n/ac or others), and Wireless Gigabit (IEEE 802.11ad), etc.). Thecommunication platform 32 may also include a global positioning system(GPS) receiver. Further, the external network(s) may be a publicnetwork, such as the Internet; a private network, such as an intranet;or combinations thereof, and may utilize a variety of networkingprotocols now available or later developed including, but not limitedto, TCP/IP-based networking protocols.

In some examples, the remote parking system 10 determines a location ofthe detected parking space 16 in relation to traffic, structures,walkways, and various other local objects or obstructions that may beencountered by the vehicle 12 and the user U. For example, in responseto identifying the parking space 16, the system 10 may connect, via thecommunication platform 32, to a server on an external network (e.g., theInternet) to determine environmental data, such as the surroundings andlocal environment surrounding the parking space 16. For example, anavigation data provider (e.g., Google®, MapQuest®, Waze®, etc.) maysupply data on whether the parking space is located adjacent to atraffic zone, a pedestrian walkway, additional parking space, structuresand various natural and/or manmade obstructions. In this way, the system10 may identify the viewing zone(s) 20 away from obstructions andtraffic paths or zones in relation to the travel path 38 of the vehicle12. Additionally, in some cases, the system 10 may identify an egresspath from the viewing zone 20 away from the vehicle 12, traffic, parkedvehicles 34, and other obstructions, such that user U has a travel pathaway from the vehicle 12 once located in the parking space 16. Detailedexamples of such operations are further discussed in reference to FIGS.3-7 .

Still referring to FIGS. 1 and 2 , a block diagram is showndemonstrating various electronic components 60 of the vehicle 12 incommunication with the remote parking system 10. In the illustratedexample, the electronic components 60 include the remote parking system10, the communication platform 32, the detection sensors 22, thewireless communication circuit 24, the ECU 26, and the vehicle data bus46. In the example shown, the remote parking system 10 includes aprocessor or controller 64, and memory 66. The processor or controller64 may be any suitable processing device or set of processing devicessuch as, but not limited to, a microprocessor, a microcontroller-basedplatform, a suitable integrated circuit, one or more field programmablegate arrays (FPGAs), and/or one or more application-specific integratedcircuits (ASICs). The memory 66 may be volatile memory (e.g., RAM, whichcan include non-volatile RAM, magnetic RAM, ferroelectric RAM, and anyother suitable forms); non-volatile memory (e.g., disk memory, FLASHmemory, EPROMs, EEPROMs, memristor-based non-volatile solid-statememory, etc.), unalterable memory (e.g., EPROMs), read-only memory,and/or high-capacity storage devices (e.g., hard drives, solid statedrives, etc.). In some examples, the memory 66 includes multiple kindsof memory, particularly volatile memory and non-volatile memory. In theexemplary implementation, the memory 66 is computer readable media onwhich one or more sets of instructions, such as the software foroperating the methods of the present disclosure, can be embedded. Theinstructions may embody one or more of the methods or logic as describedherein. In a particular embodiment, the instructions may residecompletely, or at least partially, within any one or more of the memory66, the computer readable medium, and/or within the processor 64 duringexecution of the instructions.

The vehicle data bus 46 communicatively couples the remote parkingsystem 10, the communication platform 32, the sensors 22, the wirelesscommunication circuit 24, and the ECU 26. In some examples, the vehicledata bus 46 includes one or more data buses. The vehicle data bus 46 maybe implemented in accordance with a controller area network (CAN) busprotocol as defined by International Standards Organization (ISO)11898-1, a Media Oriented Systems Transport (MOST) bus protocol, a CANflexible data (CAN-FD) bus protocol (ISO 11898-7), a K-line bus protocol(ISO 9141 and ISO 14230-1), and/or an Ethernet™ bus protocol IEEE 802.3(2002 onwards), etc. In some examples, the ECU 26 and sensors 22 areorganized on separate data buses to manage, for example, datacongestion, data management, etc. For example, the ECU 26 (e.g., thebrake control unit 50, the throttle control unit 52, etc.) may be on aseparate bus from the other ECU 26 and sensors 22.

Referring now to FIGS. 3A and 3B, remote parking routines are showndemonstrating the vehicle travel path 38 as well as the designatedviewing zone 20 of the user U. FIG. 3A demonstrates a backward parallelparking routine and FIG. 3B demonstrates a forward parallel parkingroutine. In each case, the system 10 processes sensory data from thesensors 22 identifying the parking space 16. Once detected, thecontroller 64 may process a path derivation routine to identify thetravel path 38 of the vehicle 12 over an unobstructed region 70 in orderto guide the vehicle 12 into the parking space 16. Once the travel path38 is identified, the controller 64 may define or designate the viewingzone 20 for the user U. In some cases, the system 10 may require thatthe user U is located in the viewing zone 20 in order to allow aninitiation of and/or maintain the autonomous or semiautonomous operationof the vehicle along the travel path 38.

As previously discussed, the location of the user may be detected by thesystem 10 based on the sensor data from the range sensors 22 a and imagesensors 22 b and/or the detected location of the remote device 14. Inthis way, the system 10 may ensure that the user U is positioned in theviewing zone 20 throughout the control of the vehicle 12 traversing thetravel path 38. In various implementations, the proportions of theviewing zones 20 may be fixed or may be adjusted to optimize the view ofthe vehicle 12, the parking space 16, and/or various objects along thetravel path 38. For example, arrows 72 represent the changing boundaryof each of the viewing zones 20 based on the position of the vehicle 12along the travel path 38. In such instances, the user U may beinstructed to relocate the remote device 14 within one of the viewingzones 20 in response to the changing proportions of the viewing zones20. The changing proportion of the viewing zones 20, as represented bythe arrows 72, may be the result of a change in the position of thevehicle 12 along the travel path 38 and/or the position of one or moreobjects (e.g., the parked vehicle 34) detected by the system 10proximate to the travel path 38. As further discussed in reference toFIGS. 4 and 5 , the system 10 is operable to communicate the position ofthe vehicle 12 along the travel path 38 as well as the position ofvarious objects in a simulated scene 80, which may be displayed on theremote device 14. In this way, the system 10 may communicate the viewingzones 20 and communicate instructions to the user U to maintain theremote device 14 viewing zone 20.

In addition to or alternatively to the display of the simulated scene 80on the remote device 14, the system 10 may be configured to outputvarious indications instructing the user U to maintain a position withinone of the viewing zones 20. For example, the controller 64 may controlthe indicator devices of the vehicle 12 (e.g., lights, speaker system,etc.) via the ECU 26 to instruct the user U to move away from, furtherbehind, or in a direction relative to a portion of the vehicle 12. Forexample, the controller 64 may output a control instruction toilluminate taillights of the vehicle 12 with increasing intensity orfrequency to identify that the vehicle 12 is approaching the user U.Similarly, the controller 64 may control the turn indicators of thevehicle to instruct the user U to move in a corresponding left or rightdirection relative to a rear portion of the vehicle 12, such that theuser U is positioned within one of the viewing zones 20. Additionally,the controller 64 may output audible instructions to the user U via thespeaker system instructing a relative location for the user U to move inrelation to the vehicle 12. Accordingly, the system 10 may instruct orguide the user U to maintain a position in one of the viewing zones 20in a variety of ways.

Referring now to FIGS. 4 and 5 , simulated scenes 80 of the vehicle 12and the parking space 16 are shown demonstrating the viewing zones 20 aswell as the travel zone 40. In operation, the simulated scene 80 may beupdated based on the movement of the vehicle 12 along the travel path 38as well as a location 90 of the remote device 14. In this way, thesystem 10 may provide for the display of the simulated scene 80 on ascreen or user interface of the remote device 14. The simulated scene 80may further include one or more instructions 92, which may guide theuser U to move in order to locate the remote device 14 in one of theviewing zones 20. In this way, the system 10 may communicate graphicalinstructions to coach and instruct the user U to be positioned withinand thereby locate the remote device 14 within the viewing zone 20,while implementing the remote park-assist operation.

As depicted in FIG. 4 , the simulated scene 80 is shown including theinstruction 92 directing the user U to exit the vehicle 12 and positionthe remote device 14 in one of the viewing zones 20. In operation, thesimulated scene 80 depicted on the HMI 66 and/or remote device 14 maydemonstrate an estimated position of the vehicle 12 in relation to theparking space 16 and the corresponding travel zone 40 positionedtherebetween along the travel path 38. Additionally, a user symbol 94may be depicted in the simulated scene 80 identifying a relativelocation of the remote device 14 and a corresponding inferred locationof the user U. In this way, the system 10 may provide instructions andfeedback to the user U, such that the user U may easily be located inone of the viewing zones 20 and outside the travel zone 40 of thevehicle 12.

Referring now to FIG. 5 , the simulated scene 80 demonstrates additionalinstructions 92 communicated to the user U to assist in the completionof the remote parking routine. As previously discussed, the disclosuremay provide for the remote operation of the vehicle 12 controlled and/orobserved via the remote device 14 and may track the location of theremote device 14 to enable the motion of the vehicle along the travelpath 38. During such an operation, the controller 64 of the system 10may halt or suppress the motion of the vehicle 12 in response to theremote device 14 and the inferred location of the user U being outsidethe viewing zones 20. As depicted in FIG. 5 , the instruction 92indicates that the motion of the vehicle 12 is paused and requests theuser to step into one of the viewing zones 20 to resume the remoteparking routine. The simulated scene 80 includes the user symbol 94identifying a location of the remote device 14 approximate the vehicle12 and the parking space 16. Additionally, the simulated scene 80 mayinclude a graphical representation of a positioning instruction 96,which may assist the user U in identifying where to move in order toenter one of the viewing zones 20. Accordingly, the system of mayprovide for the simulated scene 80 to be displayed on the display of theremote device 14 in accordance with the disclosure.

As previously discussed, the system 10 may identify the location of theremote device 14 by monitoring communication signals to and from theremote device 14 via the communication platform 32. The location of theremote device 14 may, therefore, be detected by the system 10 based onRSS (Received Signal Strength), AOA (Angle of Arrival), TOA (Time ofArrival), and TDOA (Time Difference of Arrival), which may be supportedby one or more wireless protocols (e.g., Bluetooth® Low Energy (BLE),Ultra-Wideband, etc.). Additionally, the location of the remote device14 may be used to infer the location of the user U. Though specificlocating techniques are described herein in reference to the detectionof the location of the remote device 14, the system 10 may utilizevarious techniques including ultrasonic proximity detection, mono orstereoscopic imaging, LIDAR (laser imaging, detection, and ranging),etc. Accordingly, the methods and system described herein may beimplemented via a variety of sensory technologies without departing fromthe spirit of the disclosure.

Referring now to FIG. 6 , a remote park-assist routine is showndemonstrated on a street 100. As demonstrate, the vehicle 12 is showntraversing the travel path 38 and maneuvering into the parking space 16.In operation, the system 10 processes sensory data from the sensors 22identifying the parking space 16. Once detected, the controller 64 mayprocess a path derivation routine to identify the travel path 38 of thevehicle 12 over an unobstructed region 70 in order to guide the vehicle12 into the parking space 16. Once the travel path 38 is identified, thecontroller 64 may define or designate the viewing zone 20 for the userU. In some cases, the system 10 may require that the user U is locatedin the viewing zone 20 in order to initiate and/or maintain theautonomous or semiautonomous operation of the vehicle along the travelpath 38. In order to define the travel path 38, the travel zone 40, andthe viewing zone 20, the system may access geographic or environmentaldata to ensure that parking space 16 and the viewing zone 20 are bothvalid for parking the vehicle 12 and viewing the operation,respectively.

In order to define the viewing zone 20, the travel zone 40, and thetraffic zone 102, the system 10 may determine the location of theparking space 16 in relation to traffic, structures, walkways, andvarious other local objects or obstructions that may be encountered bythe vehicle 12 and the user U. For example, in response to identifyingthe parking space 16, the system 10 may connect, via the communicationplatform 32, to a server on an external network (e.g., the Internet) todetermine environmental data, such as the surroundings and localenvironment surrounding the parking space 16. For example, a navigationdata provider (e.g., Google®, MapQuest®, Waze®, etc.) or variousgeographic information systems may supply data on whether the parkingspace 16 is located adjacent to the traffic zone 102, a pedestrianwalkway 104, additional parking space, structures and various naturaland/or manmade obstructions. In this way, the system 10 may identify theviewing zone(s) 20 away from obstructions and the traffic zone 102 inrelation to the travel path 38 of the vehicle 12.

In some cases, the system 10 may identify an egress path 110 from theviewing zone 20 away from the vehicle 12, traffic, parked vehicles 34and other obstructions, such that user U has a travel path away from thevehicle 12 once located in the parking space 16. The egress path 110 maybe identified with the vehicle 12 located in the parking space 16 or inresponse to the vehicle 12 located in an intermediate location along thetravel path 38. For example, as the system 10 controls the vehicle 12 totraverse the travel path 38, the controller 64 may identify that theegress path 110 is narrowing or becoming inaccessible as a result of afuture position of the vehicle 12 along the travel path 38. Accordingly,the system 10 may control the vehicle 12 to pause motion of the vehicle12 along the travel path 38 and instruct the user U to relocate to analternate or additional viewing zone 20 (e.g. as depicted in FIG. 7 )via the instructions 92 or 96. In this way, the system 10 may providethe user U with instruction to adjust a position from which to view theoperation of the vehicle 12 along the travel path 38 to ensure that theuser U has access to the egress path 110 before the path 110 isobstructed by the vehicle 12 traversing the travel path 38. The egresspath 110 is further discussed in reference to FIG. 7 .

In cases where the vehicle 12 is operating in a traffic zone 102, thesystem 10 may implement the detection sensors 22 to monitor theoperating environment of the vehicle 12. That is, the controller 64 maymonitor scanning data (image data, proximity data, etc.) communicatedfrom the detection sensors 22 along the travel path 38 to detectapproaching vehicles, pedestrians, or other objects. In this way, thesystem 10 may provide for the detection of various obstructions that mayhinder the operation of the remotely operated assisted or autonomousparking operation. Though discussed in reference to specific scenarios,it shall be understood that the operating routines, methods, andoperating hardware discussed herein may be implemented in a variety ofparking scenarios.

Referring now to FIG. 7 , the remote observation of a variety of parkingscenarios is discussed in further detail. For clarity, the scenarios areidentified as a first routine A, a second routine B, a third routine C,and a fourth routine D. Additionally, each of the corresponding travelpaths 38, viewing zones 20, parking spaces 16, etc. include designationsidentifying the routine to which they correspond. For example, the firstroutine A includes a travel path 38 a, viewing zone 20 a, etc. Ingeneral each of the scenarios described in reference to FIG. 7 isdemonstrated in a parking lot 112. Accordingly, the surfaces depictedmay be identified by the controller 64 as pedestrian walkways 104 orlimited traffic regions over which the vehicle 12 may operate and theuser U may move freely in the parking lot 112. The controller 64 mayadditionally communicate the instruction 92 via the remote device 14alerting the user U of potential traffic. Again, the system 10 mayidentify the nature of the operating environment (e.g. pedestrian,parking, operation, speed restrictions, etc.) by accessing a remoteserver of a navigation data provider (e.g., Google®, MapQuest®, Waze®,etc.) or various geographic information systems. Note that the travelzones 40 associated with each of the scenarios are not shown forclarity. However, the travel zones 40 follow the travel path 38 andinclude clearance for the extents of the vehicle 12 traversing thetravel path 38.

Referring now to the first routine A, the system 10 may also be operableto control the vehicle 12 a to exit the parking space 16 a. Thisoperation of the vehicle 12 a may be particularly beneficial in caseswhere the parking space 16 a is too small to accommodate the width ofthe vehicle with one of the passenger doors opened. As shown, theviewing zones 20 a are positioned outside the parking space 16 a and theadjacent parked vehicles 34 a. In this way, the system 10 may positionthe user U in one of the viewing zones 20 a, such that the user U mayview the operation of the vehicle 12 a along the travel path withoutimpeding the operation of the vehicle 12 a. Additionally, the positionof the viewing zones 20 a provides for the egress or an exit path forthe user U away from the adjacent parked vehicles 34 a and may furtheraccount for various obstructions that may restrict the freedom of motionof the user U. As previously discussed, the objects in the localenvironment surrounding the vehicle 12 a may be identified based on thesensory data from the detection sensors 22 as well as the geographicdata accessed via the communications platform 32.

The second routine B demonstrates a scenario wherein the viewing zones20 b extend significantly along the travel path 38 b of the vehicle 12b. In contrast with the first routine A, the user U may view theassisted parking operation from a position along an entire side (e.g. adriver's side) of the vehicle 12 b. The second routine B demonstratesthat the boundaries of the viewing zones 20 b may be expanded orretracted based on the location of the parking space 16 b in relation tothe adjacent surroundings (parked vehicles 34 b, objects, structures,etc.). Accordingly, the system 10 may flexibly define the viewing zones20 to maximize the flexibility of the viewing position for the user U byexpanding the viewing zones 20 in response to the objects detected oridentified proximate to the parking spaces 16 a, 16 b, etc.

Referring now to the third routine C and the fourth routine D, theexamples shown are demonstrated for a comparison of the viewing zone 20c and 20 d. In general, the third routine C and the fourth routine D aresimilar in operation. That is, the vehicles 12 c and 12 d are controlledalong their corresponding travel paths 38 c and 38 d that the vehicles12 c and 12 d are parked between parked vehicles 34 c and 34 d alongentry sides of the vehicles 12 c and 12 d. However, the third routine Cdemonstrates the vehicle 12 c entering the parking space 16 c with apull through or egress space 114. In contrast, an obstruction 116 (e.g.a structural column as shown) may block the location of a comparableegress space through which the user U may travel. Accordingly, thesystem 10 may identify the obstruction 116 and eliminate thecorresponding viewing zone 20 d in response to the obstruction 116blocking the exit path of the user U following completion of thenavigation of the vehicle along the travel path 38 d. Such operation maybe particularly beneficial to the user when completing a remote assistedparking operation in a crowded parking lot to ensure that the vehicle 12d does not impede the freedom of movement of the user U.

Referring now to FIG. 8 , a method 130 for coaching the user U to locatethe remote device 14 within one of the viewing zones 20 is shown. Themethod 130 may begin in response to initiating the remote assistedparking routine, allowing the user U to view the navigation of thevehicle 12 from outside the passenger compartment of the vehicle (132).Upon initiation of the remote parking routine, the method 130 maycalculate the travel zone 40 of the vehicle 12 based on the travel path38 and define the viewing zone(s) 20 (134). With the viewing zones 20calculated, the controller 64 may scan the sensor data from thedetection sensors 22 to determine if an obstruction or object is locatedin one of the viewing zones 20 (136). If an obstruction is identified instep 136, the controller 64 may identify the obstructed viewing zone 20and restrict or withdraw an instruction to the user, such that theobstructed viewing zone is not available for observation (138). If noobstruction is identified in step 136 or following the restriction ofone of the viewing zones in step 138, the method 130 may continue toidentify a location of the remote device (140).

With the proportions of the viewing zones 20 and the location of theremote device 14 determined, the controller 64 may output one or moreinstructions coaching the user U to enter one or either of the viewingzones 20 (142). As discussed herein, the instructions may be provided tothe user U via the display of the remote device 14. The instructions mayalso be output via various indicator devices of the vehicle (e.g., thelights, the speaker system, etc.) as well as similar indicator devicesof the remote device 14 or various other vehicle accessories that may bein communication with the system 10. Additionally, in step 144, thecontroller 64 may update the instructions communicated to the user Ubased on detected changes in the location of the remote device 14.Accordingly, the method 130 may provide for a flexible solution toinstruct the user U to locate the remote device 14 within one of theviewing zones 20.

By continuing to monitor the location of remote device 14, the method130 may determine if the remote device 14 is located in the viewing zonein step 146. If the remote device 14 is not located in one of theviewing zones 20, a motion control operation of the vehicle 12 may besuspended (148). As previously discussed in reference to step 138, ifone of the viewing zones 20 is restricted due to an object orobstruction 116, the detection in step 146 may be limited to one of theviewing zones 20 that is identified as accessible or unobstructed. Ifthe remote device 14 is identified within one of the viewing zones 20 instep 146, the method 130 may continue to control the motion of thevehicle 12 along the travel path 38 (150).

As previously discussed, the system 10 may provide for updatedparameters for proportions of the viewing zones 20 based on the positionof the vehicle 12 along the travel path 38 as well as the detection ofobjects proximate to the vehicle 12 (152). Based on the changingproportions of the viewing zones 20, the method 130 may continue tomonitor the location of the remote device 14 and provide instructions tothe user U to locate the remote device 14 in the viewing zone(s) aspreviously discussed in steps 140, 142, and 144. Finally, based on thecontinuing motion of the vehicle 12 along the travel path 38, the system10 may identify if the vehicle 12 is located aligned with the parkingspace 16 in step 154. If the vehicle 12 is not located in the parkingspace 16 in step 154, the method 130 may return to step 146 to verifythat the remote device 14 is located in one of the viewing zones 20. Ifthe vehicle 12 is located in the parking space 16 in step 154, themethod 130 may end as a result of the automated or semi-automatedmovement of the vehicle 12 being stopped in response to the alignment ofthe vehicle with a target position (156).

It will be understood that any described processes or steps withindescribed processes may be combined with other disclosed processes orsteps to form structures within the scope of the present disclosure. Theexemplary structures and processes disclosed herein are for illustrativepurposes and are not to be construed as limiting.

What is claimed is:
 1. A control system for a vehicle comprising: atleast one detection device configured to capture detection data; and acontroller that: identifies a parking space for the vehicle in anoperating area based on the detection data; identifies a travel path ofthe vehicle from a current position to a target position aligning thevehicle with the parking space; in response to the travel path,calculates a travel zone occupied by the vehicle traversing the travelpath; identifies at least one obstruction that has an obstructionboundary and is proximate to or located in either the parking space orthe travel zone based on the detection data; determines at least oneviewing zone adjacent to either the travel zone or the parking space andis located such that a line of sight between the viewing zone and thetravel path is unobstructed by the at least one obstruction; determinesa location of a user based on the detection data; and controls anavigation routine of the vehicle along the travel path in response tothe location of the user relative to the at least one viewing zone. 2.The control system according to claim 1, wherein the at least onedetection device comprises a communication module configured tocommunicate with a remote device comprising a user interface, whereinthe communication module identifies a position of the remote device andinfers the location of the user.
 3. The control system according toclaim 2, wherein the communication module is further configured tocommunicate with a remote server via a wireless network, and wherein thecontroller further accesses geographic information for the operatingarea.
 4. The control system according to claim 3, wherein the controllerfurther: identifies a traffic zone and a pedestrian zone in response tothe geographic information for the operating area.
 5. The control systemaccording to claim 2, wherein the controller further: in response to theposition of the remote device outside the viewing zone, generates aninstruction to relocate the remote device in the viewing zone, whereinthe instruction provides at least one of a direction and a distance torelocate the remote device in the viewing zone.
 6. The control systemaccording to claim 5, wherein the controller further: instructs theremote device to demonstrate a simulated scene demonstrating the travelzone of the vehicle, the viewing zone, and the location of the remotedevice.
 7. The control system according to claim 1, wherein thecontroller further: in response to the location of the user outside theviewing zone, controls the vehicle to suspend the navigation routine ofthe vehicle along the travel path.
 8. The control system according toclaim 1, wherein the at least one detection device comprises at leastone of a camera and a proximity detection device.
 9. The control systemaccording to claim 1, wherein the controller further: detects at leastone obstruction proximate to the travel path via the detection data andadjusts a boundary of the at least one viewing zone corresponding to thelocation of the obstruction.
 10. The control system according to claim9, wherein the at least one obstruction comprises a parked vehiclelocated proximate to the parking space.
 11. The control system accordingto claim 1, wherein the controller further: determines viewing locationsfor the at least one viewing zone in response to a traffic zone and apedestrian zone identified in the operating area.
 12. The control systemaccording to claim 1, wherein the controller further: determines anegress path from the at least one viewing zone to a region away from theparking space; and adjusts the at least one viewing zone, such that theegress path is unobstructed by the at least one obstruction with thevehicle located in the parking space.
 13. The control system accordingto claim 1, further comprising: a vehicle maneuvering system thatcontrols a velocity and a steering angle of the vehicle along the travelpath in response to instructions received from the controller.
 14. Amethod for enforcing a viewing zone for monitoring a semi-automatedvehicle operation of a vehicle, the method comprising: identifying aparking space for the vehicle in an operating area via detection data;identifying a travel path of the vehicle from a current position to atarget position aligning the vehicle with the parking space, wherein thetravel path includes a travel zone of the vehicle extending from thecurrent position to the target position; in response to the travel path,calculating a travel zone occupied by the vehicle traversing the travelpath; determining a perimeter of at least one viewing zone based on thetravel zone, wherein the at least one viewing zone is adjacent to eitherthe travel zone or parking zone; identifying at least one obstruction inthe operating area; adjusting the perimeter of the at least one viewingzone based on the at least one obstruction; and controlling a navigationroutine of the vehicle along the travel path in response to a locationof a user relative to the perimeter of the at least one viewing zone.15. The method according to claim 14, wherein detecting the location ofthe user comprises detecting the location based on a position of aremote device identified via a communication module.
 16. The methodaccording to claim 15, further comprising: in response to the positionof the remote device outside the viewing zone, generating an instructionto relocate the remote device in the viewing zone.
 17. The methodaccording to claim 14, further comprising: determining viewing locationsfor the at least one viewing zone in response to a traffic zone and apedestrian zone identified in the operating area.
 18. The methodaccording to claim 14, further comprising: determining an egress pathfrom the at least one viewing zone to a region away from the parkingspace; and adjusting the at least one viewing zone, such that the egresspath is unobstructed by the at least one obstruction with the vehiclelocated in the parking space.
 19. A control system for a vehiclecomprising: at least one detection device configured to capturedetection data wherein the at least one detection device is configuredto identify a position of a remote device relative to the vehicle; andat least one controller that: identifies a parking space for the vehiclein an operating area via the detection data; identifies a travel path ofthe vehicle from a current position to a target position aligning thevehicle with the parking space; in response to the travel path,calculates a travel zone occupied by the vehicle traversing the travelpath; identifies a pedestrian zone in response to geographic informationfor the operating area; identifies at least one obstruction proximate toor positioned in at least one of the parking space, the travel zone, orpedestrian zone based on the detection data; determines at least oneviewing zone adjacent to at least one of either the travel zone or theparking space, wherein the at least one viewing zone is positioned inthe pedestrian zone and spaced from the at least one obstruction;identifies the position of the remote device and infers a location of auser based on the position of the remote device; controls a navigationroutine of the vehicle along the travel path in response to the locationof the user relative to the at least one viewing zone; and suspends thenavigation routine when the location of the user is outside the at leastone viewing zone.
 20. The control system according to claim 1, whereinthe controller further: detects a change in the obstruction boundary;and identifies at least one updated viewing zone based on the change inthe obstruction boundary and the at least one viewing zone.